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Update to 2018_v4 image and new build system. (#598)
* Revert "Force OpenCV to 3.1.0 (#602)"
This reverts commit 50ed55e8e2.
* Removes Simulation
* Removes old build system
* Removes old gtest
* Adds new gmock and gtest
* Updates to new ni-libraries
* removes MyRobot (to be replaced)
* moves files to new location
* Adds new sim backend and new test executables
* updates .styleguide and .gitignore
* Changes cpp WPILibVersion to a function
MSVC throws an AV with the old version.
* Disables USBCamera on all systems except for linux
* 2018 NI Libraries
* New build system
This commit is contained in:
Thad House
committed by
Peter Johnson
Peter Johnson
parent
50ed55e8e2
commit
e1195e8b9d
244
hal/src/main/native/sim/AnalogTrigger.cpp
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244
hal/src/main/native/sim/AnalogTrigger.cpp
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/*----------------------------------------------------------------------------*/
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/* Copyright (c) FIRST 2017. All Rights Reserved. */
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/* Open Source Software - may be modified and shared by FRC teams. The code */
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/* must be accompanied by the FIRST BSD license file in the root directory of */
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/* the project. */
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/*----------------------------------------------------------------------------*/
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#include "HAL/AnalogTrigger.h"
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#include "AnalogInternal.h"
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#include "HAL/AnalogInput.h"
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#include "HAL/Errors.h"
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#include "HAL/handles/HandlesInternal.h"
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#include "HAL/handles/LimitedHandleResource.h"
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#include "MockData/AnalogInDataInternal.h"
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#include "MockData/AnalogTriggerDataInternal.h"
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#include "PortsInternal.h"
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namespace {
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struct AnalogTrigger {
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HAL_AnalogInputHandle analogHandle;
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uint8_t index;
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HAL_Bool trigState;
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};
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}
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using namespace hal;
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static LimitedHandleResource<HAL_AnalogTriggerHandle, AnalogTrigger,
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kNumAnalogTriggers, HAL_HandleEnum::AnalogTrigger>
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analogTriggerHandles;
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HAL_AnalogTriggerHandle HAL_InitializeAnalogTrigger(
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HAL_AnalogInputHandle portHandle, int32_t* index, int32_t* status) {
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// ensure we are given a valid and active AnalogInput handle
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auto analog_port = analogInputHandles.Get(portHandle);
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if (analog_port == nullptr) {
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*status = HAL_HANDLE_ERROR;
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return HAL_kInvalidHandle;
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}
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HAL_AnalogTriggerHandle handle = analogTriggerHandles.Allocate();
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if (handle == HAL_kInvalidHandle) {
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*status = NO_AVAILABLE_RESOURCES;
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return HAL_kInvalidHandle;
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}
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auto trigger = analogTriggerHandles.Get(handle);
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if (trigger == nullptr) { // would only occur on thread issue
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*status = HAL_HANDLE_ERROR;
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return HAL_kInvalidHandle;
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}
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trigger->analogHandle = portHandle;
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trigger->index = static_cast<uint8_t>(getHandleIndex(handle));
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*index = trigger->index;
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SimAnalogTriggerData[trigger->index].SetInitialized(true);
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trigger->trigState = false;
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return handle;
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}
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void HAL_CleanAnalogTrigger(HAL_AnalogTriggerHandle analogTriggerHandle,
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int32_t* status) {
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auto trigger = analogTriggerHandles.Get(analogTriggerHandle);
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analogTriggerHandles.Free(analogTriggerHandle);
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if (trigger == nullptr) return;
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SimAnalogTriggerData[trigger->index].SetInitialized(false);
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// caller owns the analog input handle.
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}
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static double GetAnalogValueToVoltage(
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HAL_AnalogTriggerHandle analogTriggerHandle, int32_t value,
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int32_t* status) {
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int32_t LSBWeight = HAL_GetAnalogLSBWeight(analogTriggerHandle, status);
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int32_t offset = HAL_GetAnalogOffset(analogTriggerHandle, status);
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double voltage = LSBWeight * 1.0e-9 * value - offset * 1.0e-9;
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return voltage;
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}
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int32_t hal::GetAnalogTriggerInputIndex(HAL_AnalogTriggerHandle handle,
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int32_t* status) {
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auto trigger = analogTriggerHandles.Get(handle);
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if (trigger == nullptr) {
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*status = HAL_HANDLE_ERROR;
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return -1;
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}
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auto analog_port = analogInputHandles.Get(trigger->analogHandle);
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if (analog_port == nullptr) {
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*status = HAL_HANDLE_ERROR;
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return -1;
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}
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return analog_port->channel;
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}
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void HAL_SetAnalogTriggerLimitsRaw(HAL_AnalogTriggerHandle analogTriggerHandle,
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int32_t lower, int32_t upper,
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int32_t* status) {
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auto trigger = analogTriggerHandles.Get(analogTriggerHandle);
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if (trigger == nullptr) {
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*status = HAL_HANDLE_ERROR;
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return;
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}
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if (lower > upper) {
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*status = ANALOG_TRIGGER_LIMIT_ORDER_ERROR;
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}
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double trigLower =
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GetAnalogValueToVoltage(trigger->analogHandle, lower, status);
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if (status != 0) return;
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double trigUpper =
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GetAnalogValueToVoltage(trigger->analogHandle, upper, status);
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if (status != 0) return;
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SimAnalogTriggerData[trigger->index].SetTriggerUpperBound(trigUpper);
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SimAnalogTriggerData[trigger->index].SetTriggerLowerBound(trigLower);
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}
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void HAL_SetAnalogTriggerLimitsVoltage(
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HAL_AnalogTriggerHandle analogTriggerHandle, double lower, double upper,
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int32_t* status) {
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auto trigger = analogTriggerHandles.Get(analogTriggerHandle);
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if (trigger == nullptr) {
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*status = HAL_HANDLE_ERROR;
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return;
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}
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if (lower > upper) {
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*status = ANALOG_TRIGGER_LIMIT_ORDER_ERROR;
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}
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SimAnalogTriggerData[trigger->index].SetTriggerUpperBound(upper);
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SimAnalogTriggerData[trigger->index].SetTriggerLowerBound(lower);
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}
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void HAL_SetAnalogTriggerAveraged(HAL_AnalogTriggerHandle analogTriggerHandle,
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HAL_Bool useAveragedValue, int32_t* status) {
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auto trigger = analogTriggerHandles.Get(analogTriggerHandle);
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if (trigger == nullptr) {
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*status = HAL_HANDLE_ERROR;
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return;
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}
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AnalogTriggerData* triggerData = &SimAnalogTriggerData[trigger->index];
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if (triggerData->GetTriggerMode() == HALSIM_AnalogTriggerFiltered) {
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*status = INCOMPATIBLE_STATE;
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return;
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}
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auto setVal = useAveragedValue ? HALSIM_AnalogTriggerAveraged
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: HALSIM_AnalogTriggerUnassigned;
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triggerData->SetTriggerMode(setVal);
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}
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void HAL_SetAnalogTriggerFiltered(HAL_AnalogTriggerHandle analogTriggerHandle,
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HAL_Bool useFilteredValue, int32_t* status) {
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auto trigger = analogTriggerHandles.Get(analogTriggerHandle);
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if (trigger == nullptr) {
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*status = HAL_HANDLE_ERROR;
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return;
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}
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AnalogTriggerData* triggerData = &SimAnalogTriggerData[trigger->index];
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if (triggerData->GetTriggerMode() == HALSIM_AnalogTriggerAveraged) {
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*status = INCOMPATIBLE_STATE;
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return;
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}
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auto setVal = useFilteredValue ? HALSIM_AnalogTriggerAveraged
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: HALSIM_AnalogTriggerUnassigned;
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triggerData->SetTriggerMode(setVal);
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}
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static double GetTriggerValue(AnalogTrigger* trigger, int32_t* status) {
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auto analogIn = analogInputHandles.Get(trigger->analogHandle);
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if (analogIn == nullptr) {
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// Returning HAL Handle Error, but going to ignore lower down
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*status = HAL_HANDLE_ERROR;
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return 0.0;
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}
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return SimAnalogInData[analogIn->channel].GetVoltage();
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}
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HAL_Bool HAL_GetAnalogTriggerInWindow(
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HAL_AnalogTriggerHandle analogTriggerHandle, int32_t* status) {
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auto trigger = analogTriggerHandles.Get(analogTriggerHandle);
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if (trigger == nullptr) {
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*status = HAL_HANDLE_ERROR;
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return false;
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}
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double voltage = GetTriggerValue(trigger.get(), status);
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if (*status == HAL_HANDLE_ERROR) {
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// Don't error if analog has been destroyed
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*status = 0;
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return false;
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}
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auto trigUpper = SimAnalogTriggerData[trigger->index].GetTriggerUpperBound();
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auto trigLower = SimAnalogTriggerData[trigger->index].GetTriggerLowerBound();
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return voltage >= trigLower && voltage <= trigUpper;
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}
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HAL_Bool HAL_GetAnalogTriggerTriggerState(
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HAL_AnalogTriggerHandle analogTriggerHandle, int32_t* status) {
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auto trigger = analogTriggerHandles.Get(analogTriggerHandle);
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if (trigger == nullptr) {
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*status = HAL_HANDLE_ERROR;
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return false;
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}
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double voltage = GetTriggerValue(trigger.get(), status);
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if (*status == HAL_HANDLE_ERROR) {
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// Don't error if analog has been destroyed
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*status = 0;
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return false;
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}
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auto trigUpper = SimAnalogTriggerData[trigger->index].GetTriggerUpperBound();
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auto trigLower = SimAnalogTriggerData[trigger->index].GetTriggerLowerBound();
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if (voltage < trigLower) {
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trigger->trigState = false;
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return false;
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}
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if (voltage > trigUpper) {
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trigger->trigState = true;
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return true;
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}
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return trigger->trigState;
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}
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HAL_Bool HAL_GetAnalogTriggerOutput(HAL_AnalogTriggerHandle analogTriggerHandle,
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HAL_AnalogTriggerType type,
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int32_t* status) {
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if (type == HAL_Trigger_kInWindow) {
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return HAL_GetAnalogTriggerInWindow(analogTriggerHandle, status);
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} else if (type == HAL_Trigger_kState) {
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return HAL_GetAnalogTriggerTriggerState(analogTriggerHandle, status);
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} else {
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*status = ANALOG_TRIGGER_PULSE_OUTPUT_ERROR;
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return false;
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}
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}
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